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/******************************************************************************
* Copyright (C) 2020 Alejandro Colomar <alx.manpages@gmail.com> *
* SPDX-License-Identifier: BSD-2-Clause *
******************************************************************************/
/******************************************************************************
******* headers **************************************************************
******************************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <sys/param.h>
#define ALX_NO_PREFIX
#include <libalx/alx/robot-ur/ur.h>
#include <libalx/base/errno.h>
#include <libalx/base/stdlib.h>
/******************************************************************************
******* macros ***************************************************************
******************************************************************************/
#define ROBOT_IP "192.168.0.1"
#define ROBOT_PORT "30002"
#define MIN_DELAY (100 * 1000)
#define DELAY (MAX(3 * 1000 * 1000, MIN_DELAY))
#define TIMEOUT (3 * 1000 * 1000)
/******************************************************************************
******* enum / struct / union ************************************************
******************************************************************************/
/******************************************************************************
******* static prototypes ****************************************************
******************************************************************************/
/******************************************************************************
******* main *****************************************************************
******************************************************************************/
int main (void)
{
struct Alx_UR *ur;
struct Alx_UR_Pose far;
struct Alx_UR_Pose out, down, left, upleft, center, upright, right;
int status;
far = UR_POSE_INIT_JOINTS(-0.106, -1.476, 1.346, -2.664, -2.224, -0.264);
out = UR_POSE_INIT_XYZ(-0.357, 0.127, 0.473, -1.538, 0.710, 0.485);
down = UR_POSE_INIT_XYZ(-0.351, 0.196, 0.482, -1.605, 0.730, 0.549);
left = UR_POSE_INIT_XYZ(-0.386, 0.196, 0.533, -1.375, 0.814, 0.923);
upleft = UR_POSE_INIT_XYZ(-0.364, 0.196, 0.565, -1.236, 0.881, 1.024);
center = UR_POSE_INIT_XYZ(-0.360, 0.200, 0.548, -1.295, 0.926, 0.785);
upright = UR_POSE_INIT_XYZ(-0.338, 0.202, 0.567, -1.181, 0.991, 0.854);
right = UR_POSE_INIT_XYZ(-0.320, 0.201, 0.542, -1.408, 0.883, 0.579);
status = EXIT_FAILURE;
if (ur_init(&ur, ROBOT_IP))
goto enotcon;
if (ur_movej(ur, &far, TIMEOUT))
goto out;
if (ur_movej(ur, &out, TIMEOUT))
goto out;
if (ur_movel(ur, &down, TIMEOUT))
goto out;
if (ur_movel(ur, &left, TIMEOUT))
goto out;
if (ur_movec(ur, &upleft, ¢er, TIMEOUT))
goto out;
if (ur_movec(ur, &upright, &right, TIMEOUT))
goto out;
if (ur_movel(ur, &down, TIMEOUT))
goto out;
if (ur_movel(ur, &out, TIMEOUT))
goto out;
if (ur_movej(ur, &far, TIMEOUT))
goto out;
if (ur_puts(ur, "Hola bb"))
goto out;
if (ur_halt(ur, TIMEOUT))
goto out;
status = EXIT_SUCCESS;
out:
status |= ur_deinit(ur);
enotcon:
perrorx("out");
return status;
}
/******************************************************************************
******* static function definitions ******************************************
******************************************************************************/
/******************************************************************************
******* end of file **********************************************************
******************************************************************************/
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